diff --git a/benchmarks/render/README.md b/benchmarks/render/README.md index 0f4e46656..0f7114bdb 100644 --- a/benchmarks/render/README.md +++ b/benchmarks/render/README.md @@ -2,10 +2,12 @@ ## Description -GPU ray-traced rendering of the [primitives](../../mujoco_warp/test_data/primitives.xml) scene. This benchmark measures rendering performance using a 5×5 grid of spheres, capsules, ellipsoids, cylinders, and boxes above a plane. +GPU ray-traced rendering performance benchmarks. These benchmarks measure rendering speed across both simple primitive layouts and complex high-resolution textured meshes on the GPU. ### primitives +GPU ray-traced rendering of the [primitives](../../mujoco_warp/test_data/primitives.xml) scene. This benchmark measures rendering performance using a 5×5 grid of spheres, capsules, ellipsoids, cylinders, and boxes above a plane. + | Property | Value | |----------|-------| | Bodies | 126 | @@ -16,3 +18,18 @@ GPU ray-traced rendering of the [primitives](../../mujoco_warp/test_data/primiti | Worlds | 8192 | ![primitives](primitives.webp) + +### mug + +GPU ray-traced rendering of the official [MuJoCo Mug](assets/mug.xml) scene. This benchmark measures rendering performance of a high-resolution, textured OBJ mesh with complex geometry. + +| Property | Value | +|----------|-------| +| Bodies | 2 | +| DoFs | 6 | +| Geoms | 37 | +| Cameras | 1 | +| Resolution | 64×64 | +| Worlds | 8192 | + +![mug](mug.webp) diff --git a/benchmarks/render/__init__.py b/benchmarks/render/__init__.py index 972afc77a..25988eb7b 100644 --- a/benchmarks/render/__init__.py +++ b/benchmarks/render/__init__.py @@ -1,3 +1,10 @@ +ASSETS = [ + { + "source": "https://github.com/google-deepmind/mujoco.git", + "ref": "3f3ff85a59b9ce68cfb9d9a5222bf7e050d966c1", + } +] + BENCHMARKS = [ { "name": "primitives", @@ -8,4 +15,16 @@ "njmax": 256, "nstep": 100, }, + { + "name": "mug", + "mjcf": "mug.xml", + "function": "render", + "nworld": 8192, + "nconmax": 100, + "njmax": 256, + "nstep": 100, + "assets": [ + (ASSETS[0], "model/mug", "assets"), + ], + }, ] diff --git a/benchmarks/render/mug.webp b/benchmarks/render/mug.webp new file mode 100644 index 000000000..24dce2e15 Binary files /dev/null and b/benchmarks/render/mug.webp differ diff --git a/benchmarks/render/mug.xml b/benchmarks/render/mug.xml new file mode 100644 index 000000000..148a27d29 --- /dev/null +++ b/benchmarks/render/mug.xml @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +